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<a href="_g_o-_m8010-6_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &quot;<a class="code" href="_g_o-_m8010-6_8h.html">GO-M8010-6.h</a>&quot;</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &quot;<a class="code" href="crc__ccitt_8h.html">crc_ccitt.h</a>&quot;</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#define SATURATE(_IN, _MIN, _MAX) {\</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor"> if (_IN &lt; _MIN)\</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor"> _IN = _MIN;\</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor"> else if (_IN &gt; _MAX)\</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor"> _IN = _MAX;\</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor"> } </span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="comment">//uint32_t crc32_core(uint32_t* ptr, uint32_t len)</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="comment">//{</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="comment">//    uint32_t xbit = 0;</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="comment">//    uint32_t data = 0;</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="comment">//    uint32_t CRC32 = 0xFFFFFFFF;</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="comment">//    const uint32_t dwPolynomial = 0x04c11db7;</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="comment">//    for (uint32_t i = 0; i &lt; len; i++)</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="comment">//    {</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="comment">//        xbit = 1 &lt;&lt; 31;</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="comment">//        data = ptr[i];</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="comment">//        for (uint32_t bits = 0; bits &lt; 32; bits++)</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="comment">//        {</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="comment">//            if (CRC32 &amp; 0x80000000)</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="comment">//            {</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="comment">//                CRC32 &lt;&lt;= 1;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="comment">//                CRC32 ^= dwPolynomial;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="comment">//            }</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="comment">//            else</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="comment">//                CRC32 &lt;&lt;= 1;</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="comment">//            if (data &amp; xbit)</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="comment">//                CRC32 ^= dwPolynomial;</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="comment">//            xbit &gt;&gt;= 1;</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="comment">//        }</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="comment">//    }</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="comment">//    return CRC32;</span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><span class="comment">//}</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="keywordtype">int</span> modify_data(<a class="code hl_struct" href="struct_m_o_t_o_r__send.html">MOTOR_send</a> *motor_s)</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>{</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    motor_s-&gt;hex_len = 17;</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    motor_s-&gt;motor_send_data.head[0] = 0xFE;</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    motor_s-&gt;motor_send_data.head[1] = 0xEE;</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    </div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span><span class="comment">//      SATURATE(motor_s-&gt;id,   0,    15);</span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span><span class="comment">//      SATURATE(motor_s-&gt;mode, 0,    7);</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        SATURATE(motor_s-&gt;K_P,  0.0f,   25.599f);</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        SATURATE(motor_s-&gt;K_W,  0.0f,   25.599f);</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        SATURATE(motor_s-&gt;T,   -127.99f,  127.99f);</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        SATURATE(motor_s-&gt;W,   -804.00f,  804.00f);</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        SATURATE(motor_s-&gt;Pos, -411774.0f,  411774.0f);</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    motor_s-&gt;motor_send_data.mode.id   = motor_s-&gt;id;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    motor_s-&gt;motor_send_data.mode.status  = motor_s-&gt;mode;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    motor_s-&gt;motor_send_data.comd.k_pos  = motor_s-&gt;K_P/25.6f*32768;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    motor_s-&gt;motor_send_data.comd.k_spd  = motor_s-&gt;K_W/25.6f*32768;</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    motor_s-&gt;motor_send_data.comd.pos_des  = motor_s-&gt;Pos/6.2832f*32768;</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    motor_s-&gt;motor_send_data.comd.spd_des  = motor_s-&gt;W/6.2832f*256;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    motor_s-&gt;motor_send_data.comd.tor_des  = motor_s-&gt;T*256;</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    motor_s-&gt;motor_send_data.CRC16 = crc_ccitt(0, (uint8_t *)&amp;motor_s-&gt;motor_send_data, 15);</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordflow">return</span> 0;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>}</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span><span class="keywordtype">int</span> extract_data(<a class="code hl_struct" href="struct_m_o_t_o_r__recv.html">MOTOR_recv</a> *motor_r)</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>{</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keywordflow">if</span>(motor_r-&gt;motor_recv_data.CRC16 !=</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        crc_ccitt(0, (uint8_t *)&amp;motor_r-&gt;motor_recv_data, 14)){</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        <span class="comment">// printf(&quot;[WARNING] Receive data CRC error&quot;);</span></div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        motor_r-&gt;correct = 0;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <span class="keywordflow">return</span> motor_r-&gt;correct;</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    }</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keywordflow">else</span></div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        {</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        motor_r-&gt;motor_id = motor_r-&gt;motor_recv_data.mode.id;</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        motor_r-&gt;mode = motor_r-&gt;motor_recv_data.mode.status;</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        motor_r-&gt;Temp = motor_r-&gt;motor_recv_data.fbk.temp;</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>        motor_r-&gt;MError = motor_r-&gt;motor_recv_data.fbk.MError;</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>        motor_r-&gt;W = ((float)motor_r-&gt;motor_recv_data.fbk.speed/256)*6.2832f ;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>        motor_r-&gt;T = ((float)motor_r-&gt;motor_recv_data.fbk.torque) / 256;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>        motor_r-&gt;Pos = 6.2832f*((float)motor_r-&gt;motor_recv_data.fbk.pos) / 32768;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>                motor_r-&gt;footForce = motor_r-&gt;motor_recv_data.fbk.force;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>                motor_r-&gt;correct = 1;</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>        <span class="keywordflow">return</span> motor_r-&gt;correct;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    }</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>}</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>HAL_StatusTypeDef SERVO_Send_recv(<a class="code hl_struct" href="struct_m_o_t_o_r__send.html">MOTOR_send</a> *pData, <a class="code hl_struct" href="struct_m_o_t_o_r__recv.html">MOTOR_recv</a> *rData)</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>{</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    uint16_t rxlen = 0;</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    modify_data(pData);</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    </div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        SET_485_DE_UP();</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>        SET_485_RE_UP();</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    HAL_UART_Transmit(&amp;huart6, (uint8_t *)pData, <span class="keyword">sizeof</span>(pData-&gt;motor_send_data), 10); </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>        SET_485_RE_DOWN();</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>        SET_485_DE_DOWN();</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    HAL_UARTEx_ReceiveToIdle(&amp;huart6, (uint8_t *)rData, <span class="keyword">sizeof</span>(rData-&gt;motor_recv_data), &amp;rxlen, 10);</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <span class="keywordflow">if</span>(rxlen == 0)</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>      <span class="keywordflow">return</span> HAL_TIMEOUT;</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span> </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    <span class="keywordflow">if</span>(rxlen != <span class="keyword">sizeof</span>(rData-&gt;motor_recv_data))</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>            <span class="keywordflow">return</span> HAL_ERROR;</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    uint8_t *rp = (uint8_t *)&amp;rData-&gt;motor_recv_data;</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="keywordflow">if</span>(rp[0] == 0xFD &amp;&amp; rp[1] == 0xEE)</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    {</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>        rData-&gt;correct = 1;</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        extract_data(rData);</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        <span class="keywordflow">return</span> HAL_OK;</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    }</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    </div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="keywordflow">return</span> HAL_ERROR;</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>}</div>
<div class="ttc" id="a_g_o-_m8010-6_8h_html"><div class="ttname"><a href="_g_o-_m8010-6_8h.html">GO-M8010-6.h</a></div></div>
<div class="ttc" id="acrc__ccitt_8h_html"><div class="ttname"><a href="crc__ccitt_8h.html">crc_ccitt.h</a></div><div class="ttdoc">CRC校验</div></div>
<div class="ttc" id="astruct_m_o_t_o_r__recv_html"><div class="ttname"><a href="struct_m_o_t_o_r__recv.html">MOTOR_recv</a></div><div class="ttdef"><b>Definition</b> <a href="motor__control_8h_source.html#l00145">motor_control.h:146</a></div></div>
<div class="ttc" id="astruct_m_o_t_o_r__send_html"><div class="ttname"><a href="struct_m_o_t_o_r__send.html">MOTOR_send</a></div><div class="ttdef"><b>Definition</b> <a href="motor__control_8h_source.html#l00126">motor_control.h:127</a></div></div>
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